CN111846231B - Unmanned throwing device and throwing method for airborne hydrological probe - Google Patents

Unmanned throwing device and throwing method for airborne hydrological probe Download PDF

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Publication number
CN111846231B
CN111846231B CN202010763728.5A CN202010763728A CN111846231B CN 111846231 B CN111846231 B CN 111846231B CN 202010763728 A CN202010763728 A CN 202010763728A CN 111846231 B CN111846231 B CN 111846231B
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probe
throwing
aerial vehicle
unmanned aerial
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CN111846231A (en
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吕冰冰
肖志伟
江峦
陈路
陈新
杨睿
邹功锋
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Hunan Guotian Electronic Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

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  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

The invention discloses an unmanned aerial vehicle hydrological probe throwing device and a throwing method, wherein the unmanned aerial vehicle throwing device is vertically arranged at the bottom of an unmanned aerial vehicle and comprises a throwing device mounting frame and a probe cabin; the probe cabin is internally provided with an electronic control cabin, a first stepping rotating shaft, a second stepping rotating shaft and a package, wherein the first stepping rotating shaft and the second stepping rotating shaft are positioned on two sides of the electronic control cabin, the first stepping rotating shaft and the second stepping rotating shaft are put in a gear belt, a probe accommodating space and a probe releasing outlet, a plurality of probes are arranged in the probe accommodating space in parallel, and the probes are connected with the gear belt in a rotating manner. The unmanned probe throwing device provided by the invention can throw the probe according to various throwing commands, has sensitivity and wide adaptability, can accurately position the position where the probe needs to fall, can perform accurate positioning, and avoids the defects that the detection hydrological index cannot be used and is invalid caused by inaccurate falling of the probe; the intelligent defense and automatic release of the probes with different hydrological indexes can be realized, and the cost of labor resources is reduced.

Description

Unmanned throwing device and throwing method for airborne hydrological probe
Technical Field
The invention relates to the technical field of marine hydrological detection, in particular to an unmanned aerial hydrological probe throwing device and a throwing method.
Background
The marine environment monitoring platform technology mainly aims at marine environment monitoring, provides different platform technologies for meeting working conditions and service environments of sensors, instruments and equipment required by marine environment monitoring, mainly comprises a shore base station, a buoy, a submerged buoy, a seabed base, an underwater mobile platform, a space base, an empty base, a ship base and the like, and is an important guarantee carrier for realizing marine monitoring. Since the initial application of shore-based stations and ship bases in the beginning of the 20 th century is successfully developed for anchor system buoys, nowadays, the development of technologies such as submerged buoys, seabed bases, underwater mobile platforms, space bases and air bases and the like has the advantages that the marine environment monitoring platform becomes an important guarantee for marine environment monitoring, most of the platform technologies are mature, and the marine environment monitoring platform plays an important role in the aspect of business operation of marine environment monitoring.
In marine environment monitoring, the demand for rapid, efficient and dynamic acquisition of various physical marine parameters such as marine temperature, salinity and the like is more and more urgent, in recent years, a lot of units and organizations invest a lot of scientific research power in development of various marine environment element monitoring devices, but the automatic measuring instruments are mainly concentrated in the shipborne application field, and relatively few devices are developed for other application approaches.
Disclosure of Invention
The invention aims to provide an airborne hydrological probe unmanned throwing device and a throwing method, which can be used for carrying a plurality of different hydrological index detection probes according to different hydrological detection requirements, accurately positioning the positions where the probes need to fall, accurately positioning and avoiding the defect that the detected hydrological indexes cannot be used and are invalid due to inaccurate falling of the probes.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle hydrology probe throwing device is vertically installed at the bottom of an unmanned aerial vehicle and comprises a throwing device installation frame and a probe cabin;
an electronic control cabin, a first stepping rotating shaft and a second stepping rotating shaft which are positioned on two sides of the electronic control cabin, a gear belt wrapping the first stepping rotating shaft and the second stepping rotating shaft, a probe accommodating space and a probe throwing outlet are arranged in the probe cabin, a plurality of probes are arranged in the probe accommodating space in parallel, and the probes are rotationally connected with the gear belt;
the unmanned releasing device is externally provided with an intelligent camera with a visual navigation sensor, internally provided with a wind speed sensor, a height sensor and a dynamic tilt angle sensor, and the dynamic tilt angle sensor is used for measuring a pitching attitude angle theta and a rolling attitude angle
Figure BDA0002613798930000021
The tail cover of the probe is hinged with the left side wall of the probe cabin and is connected with the right side wall of the probe cabin through a buckle.
Further, put in device mounting bracket and be central symmetry structure, including first erection angle (1-1), second erection angle, third erection angle and fourth erection angle, the erection angle is the right angle structure, is located every right-angled both sides and respectively is provided with an installation and detains, the installation detain with unmanned vehicles connects.
Further, the installation buckle and the unmanned aerial vehicle are fixedly installed or detachably installed.
The fixed mounting can select screw fastening or direct welding mode, and the detachable mounting can select buckle fixing mode.
Further, the mounting frame is of a centrosymmetric X-shaped structure.
Further, the center of the mounting frame is provided with a central hollow circle, the mounting angle position is provided with a mounting angle hollow circle, and the area ratio of the central hollow circle to the mounting angle hollow circle is (3:1) - (10: 1).
Further, the electronic control cabin is in communication connection with an external control device in a wireless communication mode or a limited communication mode, and receives a throwing signal of the external control device; and a rechargeable battery is arranged in the electronic control cabin.
The invention also provides an unmanned throwing method of the airborne hydrological probe, which comprises the following steps:
s1: filling a plurality of probes in a probe accommodating space of a probe cabin of the airborne hydrological probe unmanned throwing device;
s2: presetting an input task in an electronic control cabin in the probe cabin through an external control device;
s3: the unmanned throwing device acquires image information of a pre-throwing target through an intelligent camera, and the electronic control cabin senses indexes of the environment through a sensor to perform intelligent task watching;
s4: the electronic control cabin receives a task triggering signal and triggers a task;
s5: automatically releasing the probe at the probe releasing outlet in the probe containing space, wherein the probe at the probe releasing outlet is released and falls off;
s6: the probe tail cover is released and discarded, the probe is thrown to a designated place, and the probe throwing task mark is completed;
s7: a first stepping rotating shaft and a second stepping rotating shaft in the probe cabin rotate simultaneously to drive a next probe rotationally connected with a gear of the next probe to enter a probe throwing outlet;
s8: and the next probe is in place, and the electronic control cabin continues to carry out intelligent task watching.
Further, in the step S5, the onboard hydrological probe unmanned releasing device automatically opens the buckle located on the right side wall of the probe cabin to release the probe.
Further, the triggering signal sensed by the electronic control is one of reaching the coordinate position of the throwing place, meeting a preset time period or receiving an external triggering signal.
Further, the method for determining the probe release route in step S5 includes the following steps:
1) determining the position of the probe in the station center coordinate system, and constructing a positioning matrix [ N ] of the station center coordinate system of the probeobj,Eobj,1]TThe formula is as follows:
Figure BDA0002613798930000031
wherein, G isNEIs a parameter matrix of the intelligent camera, representing the camera pose and position, [ u, v, 1 [ ]]TRetention obtained for visual navigation sensor measurements of a cameraNormalized uniform pixel coordinates;
2) calculating a parameter matrix G of the smart cameraNE，
Figure BDA0002613798930000032
Wherein said
Figure BDA0002613798930000033
Parameters measured for the visual navigation sensor of a smart camera, said pcamThe r is the central position of the probe expressed by a standing center coordinate system1Is a first column vector, said r2For the second column vector, the K is the intrinsic parameter of the camera estimated by the standard camera calibration algorithm, the [ u, v, 1 ]]TFor normalized uniform pixel coordinates, the [ N ]obj,Eobj,1]TIs a positioning matrix of a standing-center coordinate system of the probe, and lambda is a positioning matrix [ N ] of the standing-center coordinate system separating the probeobj,Eobj,1]TThe scaling factor required to normalize the homogeneous coordinates;
3) constructing the probe launching route model, and calculating the position (x, y, z) of a launching target geographic coordinate system:
Figure BDA0002613798930000041
velocity V of the probe relative to air in the inertial systemrThe formula of (1) is:
Figure BDA0002613798930000042
Figure BDA0002613798930000043
the vector x is the north position and speed of the standing center coordinate system, the vector y is the east position and speed of the standing center coordinate system, and the vector z is the lower position and speed of the standing center coordinate system; v isxIs the north direction velocity of the drone, vyIs the east direction velocity of the unmanned aerial vehicle, thevzThe lower direction speed of the unmanned aerial vehicle;
said wxWind speed in the north direction in the inertial system, wyThe inertia is the wind speed in the middle east direction, wzIs the wind speed in the downward direction in the inertial system;
the constant CDThe constant A is the area of the released object, the constant rho is the air density and the constant g is the standard acceleration caused by gravity;
4) constructing navigation path vectors
Figure BDA0002613798930000044
The formula is as follows:
Figure BDA0002613798930000045
wherein said Vg＝||vx,vy,vz| represents ground speed; said L1Is the vector
Figure BDA0002613798930000046
The adjustable length is the distance between the intersection point of the unmanned aerial vehicle and the expected path of the unmanned aerial vehicle; said η is said vector
Figure BDA0002613798930000047
And the angle between the velocity vector of the unmanned aerial vehicle;
6) calculating the expected roll angle phi of the navigation pathdThe formula is as follows:
Figure BDA0002613798930000051
wherein theta is a pitching attitude angle of the unmanned aerial vehicle;
7) calculating a desired tilt angle theta of the navigation pathdThe formula is as follows:
θd＝-c1(γ-γd)+γd+αtrim
wherein c is1Is a constant, d is the distance from the position of the unmanned aerial vehicle to the landing point p of the probe, gamma is the flight path angle, gammadTo a desired flight path angle, αtrimIs a correction angle; wherein,
Figure BDA0002613798930000052
γpis the rotation angle of the unmanned plane around the y axis, KphAnd KihProportional and integral gain of the controller to the tilt angle, respectively, Δ being the distance in front of the probe release point to the probe landing point p, evIs the vertical tracking error;
8) calculating expected power delta of navigation paththrThe formula is as follows:
Figure BDA0002613798930000053
wherein, the deltathrTo the desired power, δthr,trimTo correct the angle alphatrimRequired desired power, said
Figure BDA0002613798930000054
And said
Figure BDA0002613798930000055
For the controller respectively to the vectors
Figure BDA0002613798930000056
Velocity V ofaThe proportional gain and the integral gain of (a),
Figure BDA0002613798930000057
namely the
Figure BDA0002613798930000058
As vectors
Figure BDA0002613798930000059
Velocity V ofaDifference V from its desired speeda,desiredThe expected value of (d); the above-mentioned
Figure BDA00026137989300000510
Is to make the vertical track error evA minimum proportional gain;
9) the automatic pilot of the unmanned aerial vehicle uses the controller to control the power of the side roll, the pitch and the throttle, and provides the estimated wind speed and the position, the speed and the posture of the unmanned aerial vehicle, and the unmanned throwing device calculates the position (x, y, z) of a throwing target geographic coordinate system according to the probe throwing route model for throwing.
Compared with the prior art, the invention has the beneficial effects that:
compare in traditional surface of water measuring platform slow, complicated, expensive, inefficiency, this patent utilizes aerial platform to carry on hydrological probe unmanned on duty, put in, relies on good maneuverability to have obtained unique advantage, and it has higher measurement efficiency, shorter measurement cycle, lower measurement cost, simpler measurement process.
Compared with the inconvenience that similar airborne throwing equipment needs manual operation, the unmanned throwing device for the airborne hydrological probe provided by the invention better solves the problems of intelligent on-duty and automatic throwing.
The unmanned throwing device for the airborne hydrological probe is suitable for aviation platforms, can realize intelligent on-duty and automatic throwing of probes such as ocean temperature and depth, temperature and salinity depth and meteorology, overcomes the complexity of the traditional manual operation mode, reduces the cost of labor resources, and greatly improves the safety of measurement activities.
The unmanned throwing device of the airborne hydrological probe provided by the invention can throw the probe to reach the coordinate position of a throwing place, meet a preset time period or receive an external trigger signal according to a plurality of throwing commands, namely a trigger signal sensed by electronic control, and has sensitivity and wide adaptability.
The method for determining the probe release route can accurately position the position where the probe needs to land, perform accurate positioning, and avoid the defects that the detection hydrological index cannot be used and is invalid due to inaccurate landing of the probe.
Drawings
Fig. 1 is a schematic perspective view of an unmanned aerial vehicle launching device with an airborne hydrological probe according to the present invention;
FIG. 2 is a schematic diagram of a side view structure of a probe cabin of the airborne hydrological probe unmanned aerial vehicle throwing device;
FIG. 3 is a schematic view of the probe running direction in the probe cabin of the airborne hydrological probe unmanned releasing device of the invention;
FIG. 4 is a front view of a mounting frame of the unmanned aerial vehicle launching device for airborne hydrological probes of the present invention;
FIG. 5 is a probe release diagram of a probe cabin of the airborne hydrological probe unmanned releasing device;
FIG. 6 is a flow chart of the unmanned aerial vehicle launching method of the airborne hydrological probe of the present invention;
fig. 7 is a flowchart of a method for determining a probe release route in the unmanned airborne hydrological probe launching method of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the unmanned aerial vehicle launching device for the airborne hydrological probe provided by the invention is vertically installed at the bottom of an unmanned aerial vehicle and comprises an installation frame 1 and a probe cabin 2 which are of a launching device and have a centrosymmetric X-shaped structure, as shown in fig. 4, the center of the installation frame 1 is provided with a central hollow circle, an installation angle hollow circle is arranged at an installation angle, and the area ratio of the central hollow circle to the installation angle hollow circle is 5: 1;
as shown in fig. 2-3, an electronic control cabin 2-1, a first stepping rotating shaft 2-2 and a second stepping rotating shaft 2-3 which are positioned at two sides of the electronic control cabin 2-1, a gear belt 2-4 wrapping the first stepping rotating shaft 2-2 and the second stepping rotating shaft, a probe accommodating space 2-5 and a probe releasing outlet 2-6 are arranged in the probe accommodating space 2-5, a plurality of probes 2-7 are arranged in parallel in the probe accommodating space 2-5, and the probes 2-7 are rotatably connected with the gear belt 2-4;
the unmanned throwing device is externally provided with an intelligent camera with a visual navigation sensor, internally provided with a wind speed sensor, a height sensor and a dynamic tilt angle sensor, wherein the dynamic tilt angle sensor is used for measuring a pitching attitude angle theta and a rolling attitude angle
Figure BDA0002613798930000071
The tail cover 2-61 of the probe 2-6 is hinged with the left side wall 2-8 of the probe cabin and is connected with the right side wall 2-9 of the probe cabin through a buckle 2-10.
As shown in fig. 4, the launching device mounting frame 1 is of a central symmetry structure and comprises a first mounting angle 1-1, a second mounting angle 1-2, a third mounting angle 1-3 and a fourth mounting angle 1-4, the mounting angles are of a right-angle structure, two mounting buckles 1-5 are arranged on two sides of each right angle respectively, and the mounting buckles are connected with the unmanned aerial vehicle. The mounting buckle is fixedly mounted with the unmanned aerial vehicle or detachably mounted; the fixed mounting mode can be screw fastening or direct welding, and the detachable mounting mode can be fastening.
The electronic control cabin 2-1 is in communication connection with an external control device through a wireless communication mode or a limited communication mode and receives a throwing signal of the external control device; a rechargeable battery is arranged in the electronic control cabin 2-1.
As shown in fig. 6, the unmanned aerial vehicle launching method for the airborne hydrological probe provided by the invention comprises the following steps:
s1: filling a plurality of probes in a probe accommodating space of a probe cabin of the airborne hydrological probe unmanned throwing device;
s2: presetting an input task in an electronic control cabin in the probe cabin through an external control device;
s3: the unmanned throwing device acquires image information of a pre-throwing target through an intelligent camera, and the electronic control cabin senses indexes of the environment through a sensor to perform intelligent task watching;
s4: the electronic control cabin receives a task triggering signal and triggers a task;
s5: the probe at the probe throwing-in outlet in the probe containing space is automatically released, and the probe at the probe throwing-in outlet is released and falls off;
as shown in fig. 5, after receiving a trigger task, the probe automatically releases the connection with the right side wall 2-9 through the buckle 2-10, and releases from the position 1 in the cabin, at the moment, the probe still keeps hinged connection with the left side wall 2-8, gradually moves from the position 1 to the position 2 due to gravity, finally moves to the position 3, keeps the same direction vertical to the ground with the throwing outlet 2-6, at the moment, the probe is separated from the right side wall 2-8, and finally vertically falls freely, and is released at a designated position;
s6: releasing and discarding the tail cover of the probe, putting the probe to a specified place, and marking the putting task of the probe to be finished;
s7: a first stepping rotating shaft and a second stepping rotating shaft in the probe cabin rotate simultaneously to drive a next probe rotationally connected with a gear of the next probe to enter a probe throwing outlet;
s8: the next probe is in place, and the electronic control cabin continues to carry out intelligent task on duty.
And in the step S5, the onboard hydrological probe unmanned releasing device automatically opens the buckle positioned on the right side wall of the probe cabin to release the probe.
The triggering signal sensed by the electronic control is one of reaching the coordinate position of the throwing place, meeting a preset time period or receiving an external triggering signal.
As shown in fig. 7, the method for determining the probe release route in the step S5 includes the steps of:
1) determining the position of the probe in the station center coordinate system, and constructing a positioning matrix [ N ] of the station center coordinate system of the probeobj,Eobj,1]TThe formula is as follows:
Figure BDA0002613798930000091
wherein G isNEIs a parameter matrix of the intelligent camera, representing the camera pose and position,[u，v，1]Tobtaining normalized uniform pixel coordinates for the camera's visual navigation sensor measurements;
2) calculating parameter matrix G of intelligent cameraNE，
Figure BDA0002613798930000092
Figure BDA0002613798930000093
Parameters measured for the visual navigation sensor of a smart camera, pcamThe center position of the probe expressed by a standing center coordinate system, r1Is a first column vector, r2For the second column vector, K is the intrinsic parameter of the camera estimated by the standard camera calibration algorithm, [ u, v, 1 [ ]]TFor normalized uniform pixel coordinates, [ N ]obj,Eobj,1]TIs a positioning matrix of a standing-center coordinate system of the probe, and lambda is a positioning matrix [ N ] of the standing-center coordinate system of the separated probeobj,Eobj,1]TThe scaling factor required to normalize the homogeneous coordinates;
by setting a first column vector quantity r1And a second column vector r2Forming a parameter matrix G of the smart cameraNEK is the intrinsic parameters of the camera estimated by the standard camera calibration algorithm, by multiplication by the parameter matrix G of the smart cameraNECamera intrinsic parameter K, normalized uniform pixel coordinates u, v, 1]TConversion from image coordinates to camera coordinates to a positioning matrix [ N ] belonging to the centroid coordinate systemobj,Eobj,1]Tλ is the positioning matrix [ N ] of the station center coordinate system where the probe is locatedobj,Eobj,1]TThe scaling factor required to normalize the homogeneous coordinates;
3) constructing a probe launching route model, and calculating the position (x, y, z) of a launching target geographic coordinate system:
Figure BDA0002613798930000094
inertial systemVelocity V of the middle probe relative to airrThe formula of (1) is:
Figure BDA0002613798930000095
Figure BDA0002613798930000096
wherein, the vector x is the north position and speed of the standing center coordinate system, the vector y is the east position and speed of the standing center coordinate system, and the vector z is the lower position and speed of the standing center coordinate system; v. ofxIs the north direction speed, v, of the droneyIs the east direction velocity, v, of the dronezThe lower direction speed of the unmanned aerial vehicle;
wxwind speed in the north direction in the inertial system, wyThe inertia system is the wind speed in the middle east direction, wzIs the wind speed in the downward direction in the inertial system;
constant CDThe constant A is the area of the released object, the constant rho is the air density and the constant g is the standard acceleration caused by gravity;
4) constructing navigation path vectors
Figure BDA0002613798930000101
The navigation module will guide the drone to fly upwind along the reference line, while maintaining a constant, stable altitude. Since the release point depends on the direction of the release velocity vector, this pair of vectors must construct a navigation path
Figure BDA0002613798930000102
The probe path determination method provided by the invention uses a line-of-sight guidance law, which not only determines the final destination of flight, but also determines the route along which the unmanned aerial vehicle will fly towards the destination, rather than performing simple path pursuit towards the release point, and the navigation path vector
Figure BDA0002613798930000103
The formula is as follows:
Figure BDA0002613798930000104
wherein Vg＝||vx,vy,vz| represents ground speed; l is1As vectors
Figure BDA0002613798930000105
The adjustable length is the distance between the intersection point of the unmanned aerial vehicle and the expected path of the unmanned aerial vehicle; eta is a vector
Figure BDA0002613798930000106
And the angle between the velocity vector of the unmanned aerial vehicle;
6) calculating the expected roll angle phi of the navigation pathdThe formula is as follows:
Figure BDA0002613798930000107
wherein theta is a pitching attitude angle of the unmanned aerial vehicle;
due to the sensitivity of the drop position to lateral movement of the drone, the length d near the release point is large enough to make the roll attitude angle
Figure BDA0002613798930000108
And the transient state of the cross track error can be ignored;
7) calculating a desired tilt angle theta of the navigation pathdThe formula is as follows:
θd＝-c1(γ-γd)+γd+αtrim
wherein c is1Is constant, d is the distance from the position of the unmanned aerial vehicle to the probe landing point p, gamma is the flight path angle, gammadTo a desired flight path angle, αtrimIs a correction angle; wherein,
Figure BDA0002613798930000111
γpis the rotation angle of the unmanned plane around the y axis, KphAnd KihProportional and integral gain of the controller to the tilt angle, respectively, Δ being the distance in front of the probe release point to the probe landing point p, evIs the vertical tracking error;
8) calculating expected power delta of navigation paththrThe formula is as follows:
Figure BDA0002613798930000112
wherein, deltathrTo the desired power, δthr,trimTo correct the angle alphatrimThe required desired power is that which,
Figure BDA0002613798930000113
and
Figure BDA0002613798930000114
are respectively controller pair vector
Figure BDA0002613798930000115
Velocity V ofaThe proportional gain and the integral gain of (a),
Figure BDA0002613798930000116
Figure BDA0002613798930000117
namely, it is
Figure BDA0002613798930000118
As vectors
Figure BDA0002613798930000119
Velocity V ofaDifference V from its desired speeda,desiredThe expected value of (d);
Figure BDA00026137989300001110
is to make the vertical track error evA minimum proportional gain;
9) the automatic pilot of the unmanned aerial vehicle uses the controller to control the power of the side roll, the pitch and the throttle, and provides the estimated wind speed and the position, the speed and the posture of the unmanned aerial vehicle, and the unmanned throwing device calculates the position (x, y, z) of a throwing target geographic coordinate system according to the probe throwing route model for throwing.
This application carries on unmanned aerial vehicle who puts in device of probe and keeps invariable height and speed.
Further, the area ratio of the installation angle hollowed-out circle to the installation angle hollowed-out circle at the center of the installation rack 1 is 3: 1.
Further, the area ratio of the installation angle hollowed-out circle to the installation angle hollowed-out circle at the center of the installation frame 1 is 10: 1.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments and the generic principles defined herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments. Those skilled in the art should appreciate that many modifications and variations are possible in light of the above teaching without departing from the scope of the invention.

Claims (8)

1. An unmanned aerial vehicle hydrology probe throwing device is vertically installed at the bottom of an unmanned aerial vehicle and is characterized by comprising a throwing device installation frame (1) and a probe cabin (2);
an electronic control cabin (2-1), a first stepping rotating shaft (2-2) and a second stepping rotating shaft (2-3) which are positioned at two sides of the electronic control cabin (2-1), a gear belt (2-4) wrapping the first stepping rotating shaft (2-2) and the second stepping rotating shaft, a probe accommodating space (2-5) and a probe throwing outlet (2-6) are arranged in the probe accommodating space (2-5), a plurality of probes (2-7) are arranged in parallel in the probe accommodating space (2-5), and the probes (2-7) are rotatably connected with the gear belt (2-4);
an intelligent camera with a visual navigation sensor is arranged outside the unmanned releasing device, and an air speed sensor, a height sensor and a dynamic tilt sensor are arranged inside the unmanned releasing device; the tail cover of the probe (2-7) is hinged with the left side wall (2-8) of the probe cabin and is connected with the right side wall (2-9) of the probe cabin through a buckle (2-10);
the throwing method of the airborne hydrological probe unmanned throwing device comprises the following steps:
s1: filling a plurality of probes in a probe accommodating space of a probe cabin of the airborne hydrological probe unmanned throwing device;
s2: presetting an input task in an electronic control cabin in the probe cabin through an external control device;
s3: the unmanned throwing device acquires image information of a pre-throwing target through an intelligent camera, and the electronic control cabin senses indexes of the environment through a sensor to perform intelligent task watching;
s4: the electronic control cabin receives a task triggering signal and triggers a task;
s5: automatically releasing the probe at the probe releasing outlet in the probe containing space, wherein the probe at the probe releasing outlet is released and falls off;
s6: the probe tail cover is released and discarded, the probe is thrown to a designated place, and the probe throwing task mark is completed;
s7: a first stepping rotating shaft and a second stepping rotating shaft in the probe cabin rotate simultaneously to drive a next probe rotationally connected with a gear belt of the next probe to enter a probe throwing outlet;
s8: the next probe is in place, and the electronic control cabin continues to carry out intelligent task watching;
the method for determining the probe release route after the probe release falls off in the step S5 includes the following steps:
1) determining the position of the probe in the station center coordinate system, and constructing a positioning matrix [ N ] of the station center coordinate system of the probeobj，Eobj，1]TThe formula is as follows:
Figure FDA0003051351440000021
wherein, G isNEBeing smart camerasParameter matrix representing camera pose and position, [ u, v, 1 ]]TNormalized uniform pixel coordinates obtained for the camera's visual navigation sensor measurements, said K being the camera's intrinsic parameters estimated by the standard camera calibration algorithm, λ being the positioning matrix [ N ] of the standing-center coordinate system separating the probesobj，Eobj，1]TThe scaling factor required to normalize the homogeneous coordinates;
2) calculating a parameter matrix G of the smart cameraNE，
Figure FDA0003051351440000022
The above-mentioned
Figure FDA0003051351440000023
Parameters measured for the visual navigation sensor of a smart camera, said pcamThe r is the central position of the probe expressed by a standing center coordinate system1Is a first column vector, said r2Is a second column vector;
3) constructing the probe launching route model, and calculating the position (x, y, z) of a launching target geographic coordinate system:
Figure FDA0003051351440000024
velocity V of the probe relative to air in the inertial systemrThe formula of (1) is:
Figure FDA0003051351440000025
Figure FDA0003051351440000026
wherein x is the north position of the standing center coordinate system, y is the east position of the standing center coordinate system, and z is the down position of the standing center coordinate system; v isxIs the north direction velocity of the drone, vyIs the eastern direction velocity of the drone, vzBeing unmanned aerial vehiclesA down direction speed;
said wxThe wind speed in the north direction in the inertial system, wyIs the wind speed in the middle east direction of the inertial system, said wzIs the wind speed in the downward direction in the inertial system;
constant CDThe constant A is the area of the released object, the constant rho is the air density and the constant g is the standard acceleration caused by gravity;
4) constructing navigation path vectors
Figure FDA0003051351440000034
The formula is as follows:
Figure FDA0003051351440000031
wherein said Vg＝||vx，vy，vz| represents ground speed; said L1Is the vector
Figure FDA0003051351440000035
The adjustable length is the distance between the intersection point of the unmanned aerial vehicle and the expected path of the unmanned aerial vehicle; the eta is the vector ascmdAdjustable length L of1An angle to the ground speed of the unmanned aerial vehicle;
5) calculating the expected roll angle phi of the navigation pathdThe formula is as follows:
Figure FDA0003051351440000032
wherein theta is a pitching attitude angle of the unmanned aerial vehicle;
6) calculating a desired tilt angle theta of the navigation pathdThe formula is as follows:
θd＝-c1(γ-γd)+γd+αtrim
wherein c is1Is constant, d is noneThe distance from the man-machine position to the probe landing point p, gamma is the flight path angle, gammadTo a desired flight path angle, αtrimIs a correction angle; wherein,
Figure FDA0003051351440000033
γpis the rotation angle of the unmanned plane around the y axis, KphAnd KihProportional and integral gain of the controller to the tilt angle, respectively, Δ being the distance in front of the probe release point to the probe landing point p, evIs the vertical tracking error;
7) calculating expected power delta of navigation paththrThe formula is as follows:
Figure FDA0003051351440000041
wherein, the deltathrTo the desired power, δthr，trimTo correct the angle alphatrimRequired desired power, said
Figure FDA00030513514400000410
And said
Figure FDA0003051351440000049
Are respectively a controller to
Figure FDA0003051351440000042
The proportional gain and the integral gain of (a),
Figure FDA0003051351440000043
Figure FDA0003051351440000044
the V isaAs vectors
Figure FDA0003051351440000045
Velocity of said Va，desiredAs vectors
Figure FDA0003051351440000046
Desired speed of said
Figure FDA0003051351440000047
Is the said VaAnd said Va，desiredA difference of (d); the above-mentioned
Figure FDA0003051351440000048
Is to make the vertical track error ev(t) a minimum proportional gain;
8) the automatic pilot of the unmanned aerial vehicle uses the controller to control the power of the side roll, the pitch and the throttle, and provides the estimated wind speed and the position, the speed and the posture of the unmanned aerial vehicle, and the unmanned throwing device calculates the position (x, y, z) of a throwing target geographic coordinate system according to the probe throwing route model for throwing.
2. The unmanned aerial vehicle that puts in of airborne hydrology probe of claim 1 device, characterized in that, put in device mounting bracket (1) and be central symmetry structure, including first erection angle (1-1), second erection angle (1-2), third erection angle (1-3) and fourth erection angle (1-4), the erection angle is the right angle structure, is located each right-angled both sides and respectively is provided with one erection buckle (1-5), the erection buckle with unmanned vehicles is connected.
3. The unmanned aerial vehicle device of claim 2, wherein the mounting buckle is fixedly or detachably mounted to the unmanned aerial vehicle.
4. The unmanned aerial vehicle hydrological probe throwing device of claim 1, wherein the throwing device mounting frame (1) is of a centrosymmetric X-shaped structure.
5. The unmanned aerial vehicle hydrology probe throwing device according to claim 1, wherein a central hollowed-out circle is arranged in the center of the throwing device mounting frame (1), a mounting angle hollowed-out circle is arranged at a mounting angle, and the area ratio of the central hollowed-out circle to the mounting angle hollowed-out circle is 3: 1-10: 1.
6. The unmanned aerial vehicle hydrological probe throwing device according to claim 1, wherein the electronic control cabin (2-1) is in communication connection with an external control device in a wireless communication mode or a wired communication mode, and receives a throwing signal of the external control device; a rechargeable battery is arranged in the electronic control cabin (2-1).
7. The airborne hydrological probe unmanned aerial vehicle of claim 1, wherein in the step S5, the airborne hydrological probe unmanned aerial vehicle automatically opens a buckle on a right side wall of the probe cabin to release the probe.
8. The unmanned aerial vehicle hydrological probe launching device of claim 1, wherein the triggering task signal received by the electronic control pod is one of the unmanned launching device reaching a launch site coordinate position, meeting a preset time period, or receiving an external triggering signal.
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